Robotic surgical tool for pluggable end-effectors

Abstract

In one embodiment of the invention, a replaceable electrosurgical end effector cartridge is provided to couple to a mechanical wrist of a surgical instrument for a robotic surgical system. The replaceable electrosurgical end effector cartridge includes two pluggable end effectors and a pair of spring latches. The two end effectors are moveable end effectors having a jaw portion, an off-center portion, and a base portion in one embodiment. The replaceable electrosurgical end effector cartridge may further include a fastener to rotatably couple the end effectors together.

What is claimed is: 
     
       1. A robotic surgical tool comprising:
 a first pulley and a second pulley; 
 a first receptacle coupled to the first pulley; 
 a second receptacle coupled to the second pulley; 
 a first end effector removably coupled to the first receptacle; 
 a second end effector removably coupled to the second receptacle; 
 a fastener rotatably fastening together the first and second end effectors at a first pivot axis; 
 a shaft having a distal end to extend the first and second end effectors into a surgical site; 
 an interface base coupled to a proximal end of the shaft, the interface base to couple to a robotic slave to control the first and second end effectors, the interface base including a first spool to control the first end effector and a second spool to control the second end effector; 
 a first cable loop routed in the shaft between the first pulley and the interface base, the first cable loop coupled to the first pulley and having a first end wrapped around the first spool of the interface base in a first direction and a second end wrapped around the first spool in a second direction opposite the first direction to control the first end effector; and 
 a second cable loop routed in the shaft between the second pulley and the interface base, the second cable loop coupled to the second pulley and having a first end wrapped around the second spool of the interface base in a first direction and a second end wrapped around the second spool in a second direction opposite the first direction to control the second end effector; 
 wherein the first pulley and second pulley respectively rotate the first and second receptacles about a second pivot axis parallel to the first pivot axis and the first and second receptacles in turn rotate the first and second end effectors about the first pivot axis to open and close the jaws of the first and second end effectors, or to yaw the first and second end effectors together. 
 
     
     
       2. The robotic surgical tool of  claim 1 , wherein
 the first receptacle is a first half receptacle, and 
 the second receptacle is a second half receptacle. 
 
     
     
       3. The robotic surgical tool of  claim 2 , wherein
 the robotic surgical tool is an electro-surgical tool, 
 the first and second end effectors are formed of a conductive material and electrically coupled together, 
 the interface base includes an electrical connector to couple to a generator, and 
 the robotic surgical tool further includes
 a wire having a first end coupled to the electrical connector, the wire routed down the shaft to the first or second receptacle, the wire having a second end to electrically couple to at least one of the first or second end effectors for electro-cautery. 
 
 
     
     
       4. The robotic surgical tool of  claim 1 , wherein
 the robotic surgical tool is an electro-surgical tool, 
 the first and second end effectors are formed of a conductive material and electrically isolated from each other, 
 the interface base includes an electrical connector with a first terminal and a second terminal to couple to a generator, and 
 the robotic surgical tool further includes
 a first wire having a first end coupled to the first terminal of the electrical connector, 
 a second wire having a first end coupled to the second terminal of the electrical connector, 
 wherein the first and second wires routed down the shaft to the first and second receptacles, respectively, the first wire having a second end to electrically couple to the first end effector and the second wire having a second end to electrically couple to the second end effector for electro-cautery. 
 
 
     
     
       5. The robotic surgical tool of  claim 1 , further comprising:
 a mechanical wrist coupled between the first and second receptacles and the shaft, the mechanical wrist having a first joint for a first degree of freedom and a second joint for a second degree of freedom, the first joint coupled to the shaft and the second joint coupled to the first joint and the first and second receptacles. 
 
     
     
       6. The robotic surgical tool of  claim 1 , wherein
 the first and second pulley independently rotate the first and second receptacles about the second pivot axis, such that the first and second receptacles rotate in opposite directions. 
 
     
     
       7. The robotic surgical tool of  claim 1 , wherein
 the first and second pulley independently rotate the first and second receptacles about the second pivot axis, such that the first and second receptacles rotate in the same direction. 
 
     
     
       8. A robotic surgical tool comprising:
 a first pulley and a second pulley; 
 a first receptacle coupled to the first pulley; 
 a second receptacle coupled to the second pulley; 
 a first end effector removably coupled to the first receptacle by a first spring latch; 
 a second end effector removably coupled to the second receptacle by a second spring latch; 
 a shaft having a distal end to extend the first and second end effectors into a surgical site; 
 an interface base coupled to a proximal end of the shaft, the interface base to couple to a robotic slave to control the first and second end effectors, the interface base including a first spool to control the first end effector and a second spool to control the second end effector; 
 a first cable loop routed in the shaft between the first pulley and the interface base, the first cable loop coupled to the first pulley and having a first end wrapped around the first spool of the interface base in a first direction and a second end wrapped around the first spool in a second direction opposite the first direction to control the first end effector; and 
 a second cable loop routed in the shaft between the second pulley and the interface base, the second cable loop coupled to the second pulley and having a first end wrapped around the second spool of the interface base in a first direction and a second end wrapped around the second spool in a second direction opposite the first direction to control the second end effector; 
 wherein the first and second spring latches are fastened to the first and second end effectors at the first pivot axis located at a fastener, and the first and second spring latches are cantilevered at the fastener to hold the first and second end effectors coupled to the first and second receptacles; 
 wherein the first pulley controls the rotation of the first end effector about a first pivot axis and the second pulley controls the rotation of the second end effector about the first pivot axis together to open and close the jaws of the first and second end effectors or yaw the first and second end effectors together. 
 
     
     
       9. The robotic surgical tool of  claim 8 , wherein
 the first receptacle is a first half receptacle, 
 the second receptacle is a second half receptacle, and 
 the first end effector and the second end effector are rotatably coupled together by a fastener. 
 
     
     
       10. The robotic surgical tool of  claim 9 , wherein
 the robotic surgical tool is an electro-surgical tool, 
 the first and second end effectors are formed of a conductive material and electrically coupled together, 
 the interface base includes an electrical connector to couple to a generator, and 
 the robotic surgical tool further includes
 a wire having a first end coupled to the electrical connector, the wire routed down the shaft to the first or second receptacle, the wire having a second end to electrically couple to at least one of the first or second end effectors for electro-cautery. 
 
 
     
     
       11. The robotic surgical tool of  claim 8 , wherein
 the robotic surgical tool is an electro-surgical tool, 
 the first and second end effectors are formed of a conductive material and electrically isolated from each other, 
 the interface base includes an electrical connector with a first terminal and a second terminal to couple to a generator, and 
 the robotic surgical tool further includes
 a first wire having a first end coupled to the first terminal of the electrical connector, 
 a second wire having a first end coupled to the second terminal of the electrical connector, 
 wherein the first and second wires are respectively routed down the shaft to the first and second receptacles, the first wire has a second end electrically coupled to the first end effector and the second wire has a second end electrically coupled to the second end effector for electro-cautery. 
 
 
     
     
       12. The robotic surgical tool of  claim 8 , further comprising:
 a mechanical wrist coupled between the first and second receptacles and the shaft, the mechanical wrist having a first joint for a first degree of freedom and a second joint for a second degree of freedom, the first joint coupled to the shaft and the second joint coupled to the first joint and the first and second receptacles.